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MindlinRollingTorsionInteraction Class Reference

This class allows one to take all three types of frictional interactions into account. The sliding, rolling and torsional frictional interaction. See. More...

#include <MindlinRollingTorsionInteraction.h>

+ Inheritance diagram for MindlinRollingTorsionInteraction:

Public Types

typedef
MindlinRollingTorsionSpecies 
SpeciesType
 An alias for FrictionSpecies. More...
 
- Public Types inherited from MindlinInteraction
typedef MindlinSpecies SpeciesType
 An alias name for MindlinSpecies data type. More...
 

Public Member Functions

 MindlinRollingTorsionInteraction (BaseInteractable *P, BaseInteractable *I, unsigned timeStamp)
 Constructor. More...
 
 MindlinRollingTorsionInteraction ()
 
 MindlinRollingTorsionInteraction (const MindlinRollingTorsionInteraction &p)
 Copy constructor. More...
 
 ~MindlinRollingTorsionInteraction () override
 Destructor. More...
 
void computeFrictionForce ()
 Computes the forces arising due to all three types of friction, i.e., sliding, rolling and torsional. More...
 
void read (std::istream &is) override
 Interaction read function, which accepts an std::istream as input. More...
 
void write (std::ostream &os) const override
 Interaction print function, which accepts an std::ostream as input. More...
 
void integrate (Mdouble timeStep) override
 Computes the amount of compression in all the springs, i.e., increments the rollingSpring_, slidingSpring_ (see MindlinInteraction.cc) and torsionSpring_. More...
 
Mdouble getElasticEnergy () const override
 Returns the global amount of energy stored in all the springs (rolling, sliding and torsional). More...
 
std::string getBaseName () const
 Returns interaction name/type. More...
 
const
MindlinRollingTorsionSpecies
getSpecies () const
 Returns a const pointer of type FrictionSpecies*. More...
 
void reverseHistory () override
 A useful feature if one wants to return to the initial state of the springs. However, reverse history decrements the current state to the state corresponding to previous time step. Decrements the state or value of rollingSpring_, torsionSpring_ and slidingSpring_. More...
 
void rotateHistory (Matrix3D &rotationMatrix) override
 When periodic particles are used, some interactions need certain history properties rotated (e.g. tangential springs). This is the function for that. More...
 
Vec3D getRollingSpring () const
 
Vec3D getTorsionSpring () const
 
void setRollingSpring (Vec3D rollingSpring)
 
void setTorsionSpring (Vec3D torsionSpring)
 
- Public Member Functions inherited from MindlinInteraction
 MindlinInteraction (BaseInteractable *P, BaseInteractable *I, unsigned timeStamp)
 Constructor. More...
 
 MindlinInteraction (const MindlinInteraction &p)
 Copy constructor. More...
 
 MindlinInteraction ()
 Empty constructor. More...
 
 ~MindlinInteraction () override
 Destructor. More...
 
void computeFrictionForce ()
 Computes the tangential force generated due to compression in the sliding spring. Does take into account if the interaction is between particle-particle or particle-wall. More...
 
Mdouble getTangentialOverlap () const override
 Returns the amount of tangential overlap which is needed by BaseInteraction::writeToFstat(). More...
 
std::string getBaseName () const
 Returns the type/name of interaction (sliding friction interaction) More...
 
const Vec3D getTangentialForce () const override
 Returns the sliding friction force vector. More...
 
const Mdouble getTangentialForceDirection () const
 
Mdouble getAbsoluteNormalForcePrevious () const
 Returns the absolute value of the norm (length) of the previous Normal force vector. More...
 
void setAbsoluteNormalForcePrevious (Mdouble absoluteNormalForcePrevious)
 allows the previous normal force to be (re)set from external classes More...
 
const MindlinSpeciesgetSpecies () const
 Returns a const pointer of type MindlinSpecies*. More...
 
void setTangentialStiffnessZero (Mdouble newKt0)
 
Mdouble getTangentialStiffnessZero ()
 
Mdouble getTangentialStiffness ()
 
void updateTangentialStiffnessZero (Mdouble rad, double shearMod)
 
void updateTangentialStiffnessInitial (Mdouble fric)
 
void updateTangentialStiffnessInitial2 (Mdouble fric, Vec3D direction)
 
void updateTangentialStiffnessUnloading (Mdouble fric, Vec3D direction)
 
void updateTangentialStiffnessReloading (Mdouble fric, Vec3D direction)
 
void updateTangentialStiffnessReloadingTanUp (Mdouble fric, Vec3D direction)
 
void updateTangentialStiffnessUnloadingTanDown (Mdouble fric, Vec3D direction)
 
void updateK_t (Mdouble fric, Vec3D direction, bool useTurningPoint, bool isLoading)
 
- Public Member Functions inherited from BaseInteraction
 BaseInteraction (BaseInteractable *P, BaseInteractable *I, unsigned timeStamp)
 A constructor takes the BaseInteractable objects which are interacting (come into contact) and time the interaction starts. More...
 
 BaseInteraction ()
 
 BaseInteraction (const BaseInteraction &p)
 Copy constructor. More...
 
 ~BaseInteraction () override
 The destructor. More...
 
virtual void actionsOnErase ()
 If an interaction needs to do something before it gets erased, add it here. E.g. Liquid bridges rupture at the end of their lifetime, and the liquid bridge volume has to be redistributed. The reason this action is not done in the destructor is that this action should not be taken when erasing ghost interactions. More...
 
virtual void computeForce ()
 Virtual function that contains the force law between the two objects interacting. More...
 
void writeToFStat (std::ostream &os, Mdouble time) const
 Writes forces data to the FStat file. More...
 
std::string getName () const override
 Virtual function which allows interactions to be named. More...
 
void setDistance (Mdouble distance)
 Sets the interaction distance between the two interacting objects. More...
 
void setNormal (Vec3D normal)
 Sets the normal vector between the two interacting objects. More...
 
void setOverlap (Mdouble overlap)
 Set the overlap between the two interacting object. More...
 
void setContactPoint (Vec3D contactPoint)
 Set the location of the contact point between the two interacting objects. More...
 
void setTimeStamp (unsigned timeStamp)
 Updates the time step of the interacting. Note, time steps used to find completed interactions. More...
 
void setSpecies (const BaseSpecies *species)
 Set the Species of the interaction; note this can either be a Species or MixedSpecies. More...
 
void setP (BaseInteractable *P)
 Sets the first object involved in the interaction (normally a particle). More...
 
void setI (BaseInteractable *I)
 Sets the second object involved in the interaction (often particle or wall). More...
 
void importP (BaseInteractable *P)
 Sets the first object involved in the interaction (normally a particle). More...
 
void importI (BaseInteractable *I)
 Sets the second object involved in the interaction (often particle or wall). More...
 
Vec3D getIP () const
 
Vec3D getIC () const
 
Vec3D getCP () const
 
void setLagrangeMultiplier (Mdouble multiplier)
 
Mdouble getLagrangeMultiplier ()
 
void setHandler (InteractionHandler *handler)
 Sets the pointer to the interaction hander which is storing this interaction. More...
 
InteractionHandlergetHandler () const
 Gets a point to the interaction handlers to which this interaction belongs. More...
 
const Vec3DgetForce () const
 Gets the current force (vector) between the two interacting objects. More...
 
const Vec3DgetTorque () const
 Gets the current torque (vector) between the two interacting objects. More...
 
const Vec3DgetNormal () const
 Gets the normal vector between the two interacting objects. More...
 
const Vec3DgetContactPoint () const
 Gets constant reference to contact point (vector). More...
 
Mdouble getOverlap () const
 Returns a Mdouble with the current overlap between the two interacting objects. More...
 
Mdouble getContactRadius () const
 Returns a Mdouble with the current contact between the two interacting objects. More...
 
void removeFromHandler ()
 Removes this interaction from its interaction hander. More...
 
void copySwitchPointer (const BaseInteractable *original, BaseInteractable *ghost) const
 This copies the interactions of the original particle and replaces the original with the ghost copy. More...
 
void gatherContactStatistics ()
 
BaseInteractablegetP ()
 Returns a pointer to first object involved in the interaction (normally a particle). More...
 
BaseInteractablegetI ()
 Returns a pointer to the second object involved in the interaction (often a wall or a particle). More...
 
const BaseInteractablegetP () const
 Returns a constant pointer to the first object involved in the interaction. More...
 
const BaseInteractablegetI () const
 Returns a constant pointer to the second object involved in the interaction. More...
 
Mdouble getTimeStamp () const
 Returns an Mdouble which is the time stamp of the interaction. More...
 
Mdouble getDistance () const
 Returns an Mdouble which is the norm (length) of distance vector. More...
 
const Vec3DgetRelativeVelocity () const
 Returns a constant reference to a vector of relative velocity. More...
 
Mdouble getNormalRelativeVelocity () const
 Returns a double which is the norm (length) of the relative velocity vector. More...
 
Mdouble getAbsoluteNormalForce () const
 Returns the absolute value of the norm (length) of the Normal force vector. More...
 
virtual BaseInteractioncopy () const =0
 Makes a copy of the interaction and returns a pointer to the copy. More...
 
void setFStatData (std::fstream &fstat, BaseParticle *P, BaseWall *I)
 
void setFStatData (std::fstream &fstat, BaseParticle *P, BaseParticle *I)
 
unsigned int getMultiContactIdentifier () const
 
void setMultiContactIdentifier (unsigned int multiContactIdentifier_)
 
virtual void actionsAfterTimeStep ()
 
virtual unsigned getNumberOfFieldsVTK () const
 
virtual std::string getTypeVTK (unsigned i) const
 
virtual std::string getNameVTK (unsigned i) const
 
virtual std::vector< MdoublegetFieldVTK (unsigned i) const
 
void setForce (Vec3D force)
 set total force (this is used by the normal force, tangential forces are added use addForce) More...
 
const BaseSpeciesgetBaseSpecies () const
 Return a constant point to BaseSpecies of the interaction. More...
 
virtual void createMPIType ()
 
virtual void * createMPIInteractionDataArray (unsigned int numberOfInteractions) const
 
virtual void deleteMPIInteractionDataArray (void *dataArray)
 
virtual void getMPIInteraction (void *historyDataArray, unsigned int index) const
 copies the history interactions into the data array More...
 
virtual void getInteractionDetails (void *interactionDataArray, unsigned int index, unsigned int &identificationP, unsigned int &identificationI, bool &isWallInteraction, unsigned &timeStamp)
 
virtual void setMPIInteraction (void *interactionDataArray, unsigned int index, bool resetPointers)
 
void setBasicMPIInteractionValues (int P, int I, unsigned timeStamp, Vec3D force, Vec3D torque, bool isWallInteraction, bool resetPointers)
 
void setIdentificationP (unsigned int identification)
 
void setIdentificationI (int identification)
 
void setWallInteraction (bool flag)
 
unsigned int getIdentificationP ()
 
int getIdentificationI ()
 
bool isWallInteraction ()
 
virtual bool isBonded () const
 
- Public Member Functions inherited from BaseObject
 BaseObject ()=default
 Default constructor. More...
 
 BaseObject (const BaseObject &p)=default
 Copy constructor, copies all the objects BaseObject contains. More...
 
virtual ~BaseObject ()=default
 virtual destructor More...
 
virtual void moveInHandler (unsigned int index)
 Except that it is virtual, it does the same thing as setIndex() does. More...
 
void setIndex (unsigned int index)
 Allows one to assign an index to an object in the handler/container. More...
 
void setId (unsigned long id)
 Assigns a unique identifier to each object in the handler (container) which remains constant even after the object is deleted from the container/handler. More...
 
unsigned int getIndex () const
 Returns the index of the object in the handler. More...
 
unsigned int getId () const
 Returns the unique identifier of any particular object. More...
 
void setGroupId (unsigned groupId)
 
unsigned getGroupId () const
 

Private Attributes

Vec3D rollingSpring_
 Stores the amount of rolling spring compression. Set in integrate(), used in computing frictional force due to rolling. More...
 
Vec3D rollingSpringVelocity_
 Stores the rate at which the rolling spring compresses or relaxes. Set in computeFrictionForce(), used in computing the amount of compression in rolling spring. Used in integrate(). More...
 
Vec3D torsionSpring_
 Stores the amount of torsional spring compression. Set in integrate(), used in computing frictional force due to torsion. More...
 
Vec3D torsionSpringVelocity_
 Stores the rate at which the torsional spring compresses or relaxes. Set in computeFrictionForce(), used in computing the amount of compression in torsion spring. Used in integrate(). More...
 

Additional Inherited Members

- Protected Member Functions inherited from BaseInteraction
Mdouble getEffectiveRadius () const
 Returns a Mdouble to the effective radius of the interaction. (Not corrected for the overlap) More...
 
Mdouble getEffectiveMass () const
 Returns a Mdouble to the effective radius of the interaction. (Not corrected for the overlap) More...
 
void addForce (Vec3D force)
 add an force increment to the total force. More...
 
void addTorque (Vec3D torque)
 
void setTorque (Vec3D torque)
 set the total force (this is used by the normal force, tangential torques are added use addTorque) More...
 
void setRelativeVelocity (Vec3D relativeVelocity)
 set the relative velocity of the current of the interactions. More...
 
void setNormalRelativeVelocity (Mdouble normalRelativeVelocit)
 set the normal component of the relative velocity. More...
 
void setAbsoluteNormalForce (Mdouble absoluteNormalForce)
 the absolute values of the norm (length) of the normal force More...
 
virtual Mdouble getElasticEnergyAtEquilibrium (Mdouble adhesiveForce) const
 
void writeInteraction (std::ostream &os, bool created) const
 Writes information about a interaction to the interaction file. More...
 
- Protected Attributes inherited from MindlinInteraction
Vec3D slidingSpring_
 Stores the amount of sliding spring ( \(\delta\)) compression from the expression \(f_t=-k*\delta-\nu*relVel\). Set in the member function integrate(), used in computeFrictionForce(). More...
 
Vec3D slidingSpringPrevious_
 
Vec3D slidingSpringVelocity_
 Stores the rate at which the sliding spring compressed or relaxed. Set in the member function computeFrictionForce() and used in integrate(). More...
 
Vec3D tangentialForce_
 Computes the tangential force such that \(|f_t|=\mu*|f_n|\). Set and computed in computeFrictionForce(). More...
 
Vec3D tangentialForcePrevious_
 
Mdouble tangentialForceDirection_
 
Vec3D tangentialForceTurningPointLU_
 
Vec3D tangentialForceTurningPointUL_
 
Vec3D tangentialForceTurningPointLUTemp_
 
Vec3D tangentialForceTurningPointULTemp_
 
Vec3D tangentialDisplacementTurningPointUL_
 
Vec3D tangentialDisplacementTurningPointLU_
 
Mdouble tangentialStiffnessZero_
 
Mdouble tangentialStiffnessZeroPrevious_
 
Mdouble tangentialStiffness_
 
bool priorLoadingFlag_
 
Vec3D tangentialForceTemp_
 
Vec3D tangentialDisplacementTemp_
 
Vec3D tangentialForceTemp2_
 
Vec3D tangentialDisplacementTemp2_
 
Mdouble tangentialDisplacementSL_
 
Vec3D initialTangentialVelocity_
 
Mdouble absoluteNormalForcePrevious_
 

Detailed Description

This class allows one to take all three types of frictional interactions into account. The sliding, rolling and torsional frictional interaction. See.

Definition at line 44 of file MindlinRollingTorsionInteraction.h.

Member Typedef Documentation

Constructor & Destructor Documentation

MindlinRollingTorsionInteraction::MindlinRollingTorsionInteraction ( BaseInteractable P,
BaseInteractable I,
unsigned  timeStamp 
)

Constructor.

Parameters
[in]P
[in]I
[in]timeStamp

Definition at line 40 of file MindlinRollingTorsionInteraction.cc.

References rollingSpring_, Vec3D::setZero(), and torsionSpring_.

42  : BaseInteraction(P, I, timeStamp), MindlinInteraction(P, I, timeStamp)
43 {
46 #ifdef DEBUG_CONSTRUCTOR
47  std::cout<<"MindlinRollingTorsionInteraction::MindlinRollingTorsionInteraction() finished"<<std::endl;
48 #endif
49 }
Vec3D torsionSpring_
Stores the amount of torsional spring compression. Set in integrate(), used in computing frictional f...
void setZero()
Sets all elements to zero.
Definition: Vector.cc:43
Vec3D rollingSpring_
Stores the amount of rolling spring compression. Set in integrate(), used in computing frictional for...
MindlinInteraction()
Empty constructor.
MindlinRollingTorsionInteraction::MindlinRollingTorsionInteraction ( )

Definition at line 52 of file MindlinRollingTorsionInteraction.cc.

References rollingSpring_, Vec3D::setZero(), and torsionSpring_.

54 {
57 #ifdef DEBUG_CONSTRUCTOR
58  std::cout<<"MindlinRollingTorsionInteraction::MindlinRollingTorsionInteraction() finished"<<std::endl;
59 #endif
60 }
Vec3D torsionSpring_
Stores the amount of torsional spring compression. Set in integrate(), used in computing frictional f...
void setZero()
Sets all elements to zero.
Definition: Vector.cc:43
Vec3D rollingSpring_
Stores the amount of rolling spring compression. Set in integrate(), used in computing frictional for...
MindlinInteraction()
Empty constructor.
MindlinRollingTorsionInteraction::MindlinRollingTorsionInteraction ( const MindlinRollingTorsionInteraction p)

Copy constructor.

Parameters
[in]p

Definition at line 65 of file MindlinRollingTorsionInteraction.cc.

References rollingSpring_, and torsionSpring_.

67 {
70 #ifdef DEBUG_CONSTRUCTOR
71  std::cout<<"MindlinRollingTorsionInteraction::MindlinRollingTorsionInteraction(const MindlinRollingTorsionInteraction& p) finished"<<std::endl;
72 #endif
73 }
Vec3D torsionSpring_
Stores the amount of torsional spring compression. Set in integrate(), used in computing frictional f...
Vec3D rollingSpring_
Stores the amount of rolling spring compression. Set in integrate(), used in computing frictional for...
MindlinInteraction()
Empty constructor.
MindlinRollingTorsionInteraction::~MindlinRollingTorsionInteraction ( )
override

Destructor.

Definition at line 78 of file MindlinRollingTorsionInteraction.cc.

79 {
80 #ifdef DEBUG_DESTRUCTOR
81  std::cout<<"MindlinRollingTorsionInteraction::~MindlinRollingTorsionInteraction() finished"<<std::endl;
82 #endif
83 }

Member Function Documentation

void MindlinRollingTorsionInteraction::computeFrictionForce ( )

Computes the forces arising due to all three types of friction, i.e., sliding, rolling and torsional.

Calls the MindlinInteraction::computeFrictionForce() as well, see MindlinInteraction.cc.

Todo:
TW: Why do we not use the corrected diameter here, as in the rolling case? And check if Stefan uses radius or diameter

Definition at line 109 of file MindlinRollingTorsionInteraction.cc.

References BaseInteraction::addTorque(), MindlinInteraction::computeFrictionForce(), Vec3D::cross(), Vec3D::dot(), BaseInteraction::getAbsoluteNormalForce(), BaseInteraction::getDistance(), BaseHandler< T >::getDPMBase(), BaseInteraction::getEffectiveRadius(), BaseInteraction::getHandler(), BaseInteraction::getI(), Vec3D::getLengthSquared(), BaseInteraction::getNormal(), BaseInteraction::getP(), MindlinRollingTorsionSpecies::getRollingDissipation(), MindlinRollingTorsionSpecies::getRollingFrictionCoefficient(), MindlinRollingTorsionSpecies::getRollingFrictionCoefficientStatic(), getSpecies(), DPMBase::getTimeStep(), MindlinRollingTorsionSpecies::getTorsionDissipation(), MindlinRollingTorsionSpecies::getTorsionFrictionCoefficient(), MindlinRollingTorsionSpecies::getTorsionFrictionCoefficientStatic(), BaseInteractable::getVelocity(), rollingSpring_, rollingSpringVelocity_, mathsFunc::square(), MindlinInteraction::tangentialStiffnessZero_, torsionSpring_, and torsionSpringVelocity_.

110 {
112 
113  const MindlinRollingTorsionSpecies* species = getSpecies();
114  //If tangential forces are present
115  if (getAbsoluteNormalForce() == 0.0) return;
116 
117  if (species->getRollingFrictionCoefficient() != 0.0)
118  {
119  Mdouble rollingStiffness = tangentialStiffnessZero_;
120  double effectiveRadius = getEffectiveRadius();
121 
122  //From Luding2008, objective rolling velocity (eq 15) w/o 2.0!
123  Vec3D rollingRelativeVelocity = - effectiveRadius *
125  getP()->getAngularVelocity() - getI()->getAngularVelocity());
126 
127  if (dynamic_cast<BaseParticle*>(getI()) == nullptr) //if particle-wall
128  rollingSpringVelocity_ = rollingRelativeVelocity;
129  else //if particle-particle
130  {
131  const Vec3D relativeVelocity = getP()->getVelocity() - getI()->getVelocity();
132  rollingSpringVelocity_ = rollingRelativeVelocity
133  - Vec3D::dot(rollingSpring_, relativeVelocity) / getDistance() * getNormal();
134  }
135 
136  //used to Integrate the spring
137  //rollingSpringVelocity_= rollingRelativeVelocity;
138  //integrate(getHandler()->timeStep_);
140 
141  //Calculate test force acting on P including viscous force
142  Vec3D rollingForce = -rollingStiffness * rollingSpring_ -
143  species->getRollingDissipation() * rollingRelativeVelocity;
144 
145  //tangential forces are modelled by a spring-damper of elasticity kt and viscosity dispt (sticking),
146  //but the force is limited by Coulomb friction (rolling):
147  Mdouble rollingForceSquared = rollingForce.getLengthSquared();
148  if (rollingForceSquared <=
150  {
151  //if sticking (|ft|<=mu*|fn|), apply the force
152  }
153  else
154  {
155  //if rolling, resize the tangential force such that |ft|=mu*|fn|
156  rollingForce *= species->getRollingFrictionCoefficient() * getAbsoluteNormalForce() /
157  std::sqrt(rollingForceSquared);
158  //resize the tangential spring accordingly such ft=-k*delta-nu*relVel
159  rollingSpring_ = -(rollingForce + species->getRollingDissipation() * rollingRelativeVelocity) /
160  rollingStiffness;
161  }
162  //Add (virtual) rolling force to torque
163  addTorque(effectiveRadius * Vec3D::cross(getNormal(), rollingForce));
164  } //end if rolling force
165 
166  if (species->getTorsionFrictionCoefficient() != 0.0)
167  {
168  Mdouble torsionStiffness = tangentialStiffnessZero_;
170  Mdouble effectiveDiameter = 2.0 * getEffectiveRadius();
171 
172  //From Luding2008, spin velocity (eq 16) w/o 2.0!
173  Vec3D torsionRelativeVelocity = effectiveDiameter * Vec3D::dot(getNormal(), getP()->getAngularVelocity() -
174  getI()->getAngularVelocity()) *
175  getNormal();
176 
177  //Integrate the spring
178  torsionSpringVelocity_ = torsionRelativeVelocity;
179  //integrate(getHandler()->timeStep_);
180  torsionSpring_ +=
181  Vec3D::dot(torsionSpring_ + torsionSpringVelocity_ * getHandler()->getDPMBase()->getTimeStep(),
182  getNormal()) * getNormal();
183 
184  //Calculate test force acting on P including viscous force
185  Vec3D torsionForce = -torsionStiffness * torsionSpring_ -
186  species->getTorsionDissipation() * torsionRelativeVelocity;
187 
188  //tangential forces are modelled by a spring-damper of elasticity kt and viscosity dispt (sticking),
189  //but the force is limited by Coulomb friction (torsion):
190  Mdouble torsionForceSquared = torsionForce.getLengthSquared();
191  if (torsionForceSquared <=
193  {
194  //if sticking (|ft|<=mu*|fn|), apply the force
195  }
196  else
197  {
198  //if torsion, resize the tangential force such that |ft|=mu*|fn|
199  torsionForce *= species->getTorsionFrictionCoefficient() * getAbsoluteNormalForce() /
200  std::sqrt(torsionForceSquared);
201  //resize the tangential spring accordingly such ft=-k*delta-nu*relVel
202  torsionSpring_ = -(torsionForce + species->getTorsionDissipation() * torsionRelativeVelocity) /
203  torsionStiffness;
204  }
205  //Add (virtual) rolling force to torque
206  addTorque(effectiveDiameter * torsionForce);
207  } //end if torsion force
208 }
Vec3D rollingSpringVelocity_
Stores the rate at which the rolling spring compresses or relaxes. Set in computeFrictionForce(), used in computing the amount of compression in rolling spring. Used in integrate().
Mdouble getEffectiveRadius() const
Returns a Mdouble to the effective radius of the interaction. (Not corrected for the overlap) ...
InteractionHandler * getHandler() const
Gets a point to the interaction handlers to which this interaction belongs.
double Mdouble
Definition: GeneralDefine.h:34
Vec3D torsionSpring_
Stores the amount of torsional spring compression. Set in integrate(), used in computing frictional f...
Mdouble getTorsionFrictionCoefficient() const
Allows the (dynamic) Coulomb torsion friction coefficient to be accessed.
void addTorque(Vec3D torque)
const MindlinRollingTorsionSpecies * getSpecies() const
Returns a const pointer of type FrictionSpecies*.
Mdouble getRollingFrictionCoefficient() const
Allows the (dynamic) Coulomb friction coefficient to be accessed.
BaseInteractable * getI()
Returns a pointer to the second object involved in the interaction (often a wall or a particle)...
static Mdouble dot(const Vec3D &a, const Vec3D &b)
Calculates the dot product of two Vec3D: .
Definition: Vector.cc:76
Vec3D rollingSpring_
Stores the amount of rolling spring compression. Set in integrate(), used in computing frictional for...
Mdouble getRollingDissipation() const
Allows the tangential viscosity to be accessed.
const Vec3D & getNormal() const
Gets the normal vector between the two interacting objects.
BaseInteractable * getP()
Returns a pointer to first object involved in the interaction (normally a particle).
Vec3D torsionSpringVelocity_
Stores the rate at which the torsional spring compresses or relaxes. Set in computeFrictionForce(), used in computing the amount of compression in torsion spring. Used in integrate().
void computeFrictionForce()
Computes the tangential force generated due to compression in the sliding spring. Does take into acco...
Mdouble getTorsionFrictionCoefficientStatic() const
Allows the static Coulomb torsion friction coefficient to be accessed.
static Vec3D cross(const Vec3D &a, const Vec3D &b)
Calculates the cross product of two Vec3D: .
Definition: Vector.cc:163
Mdouble getDistance() const
Returns an Mdouble which is the norm (length) of distance vector.
Mdouble getTorsionDissipation() const
Allows the torsion viscosity to be accessed.
Mdouble getRollingFrictionCoefficientStatic() const
Allows the static Coulomb rolling friction coefficient to be accessed.
static Mdouble getLengthSquared(const Vec3D &a)
Calculates the squared length of a Vec3D: .
Definition: Vector.h:316
virtual const Vec3D & getVelocity() const
Returns the velocity of this interactable.
Definition: Vector.h:49
T square(const T val)
squares a number
Definition: ExtendedMath.h:106
DPMBase * getDPMBase()
Gets the problem that is solved using this handler.
Definition: BaseHandler.h:725
Mdouble getTimeStep() const
Returns the simulation time step.
Definition: DPMBase.cc:1241
MindlinRollingTorsionSpecies contains the parameters used to describe sliding, rolling and torsional ...
Mdouble getAbsoluteNormalForce() const
Returns the absolute value of the norm (length) of the Normal force vector.
std::string MindlinRollingTorsionInteraction::getBaseName ( ) const

Returns interaction name/type.

Returns
std::string

Definition at line 242 of file MindlinRollingTorsionInteraction.cc.

243 {
244  return "Friction";
245 }
Mdouble MindlinRollingTorsionInteraction::getElasticEnergy ( ) const
overridevirtual

Returns the global amount of energy stored in all the springs (rolling, sliding and torsional).

Returns
Mdouble the total elastic energy stored in the frictional springs

Reimplemented from MindlinInteraction.

Definition at line 223 of file MindlinRollingTorsionInteraction.cc.

References MindlinInteraction::getElasticEnergy(), Vec3D::getLengthSquared(), rollingSpring_, MindlinInteraction::tangentialStiffnessZero_, and torsionSpring_.

224 {
228 }
Vec3D torsionSpring_
Stores the amount of torsional spring compression. Set in integrate(), used in computing frictional f...
Vec3D rollingSpring_
Stores the amount of rolling spring compression. Set in integrate(), used in computing frictional for...
Mdouble getElasticEnergy() const override
Returns the amount of elastic energy stored in sliding spring.
static Mdouble getLengthSquared(const Vec3D &a)
Calculates the squared length of a Vec3D: .
Definition: Vector.h:316
Vec3D MindlinRollingTorsionInteraction::getRollingSpring ( ) const

Definition at line 271 of file MindlinRollingTorsionInteraction.cc.

References rollingSpring_.

272 {
273  return rollingSpring_;
274 }
Vec3D rollingSpring_
Stores the amount of rolling spring compression. Set in integrate(), used in computing frictional for...
const MindlinRollingTorsionSpecies * MindlinRollingTorsionInteraction::getSpecies ( ) const

Returns a const pointer of type FrictionSpecies*.

Returns
const MindlinRollingTorsionSpecies*

Definition at line 233 of file MindlinRollingTorsionInteraction.cc.

References BaseInteraction::getBaseSpecies(), and BaseSpecies::getFrictionForce().

Referenced by computeFrictionForce().

234 {
235  return static_cast<const MindlinRollingTorsionSpecies*>(getBaseSpecies()->getFrictionForce());
236 ;
237 }
BaseFrictionForce * getFrictionForce() const
Definition: BaseSpecies.h:150
const BaseSpecies * getBaseSpecies() const
Return a constant point to BaseSpecies of the interaction.
MindlinRollingTorsionSpecies contains the parameters used to describe sliding, rolling and torsional ...
Vec3D MindlinRollingTorsionInteraction::getTorsionSpring ( ) const

Definition at line 276 of file MindlinRollingTorsionInteraction.cc.

References torsionSpring_.

277 {
278  return torsionSpring_;
279 }
Vec3D torsionSpring_
Stores the amount of torsional spring compression. Set in integrate(), used in computing frictional f...
void MindlinRollingTorsionInteraction::integrate ( Mdouble timeStep  )
overridevirtual

Computes the amount of compression in all the springs, i.e., increments the rollingSpring_, slidingSpring_ (see MindlinInteraction.cc) and torsionSpring_.

Parameters
[in]timeStepthe amount of time by which the solution is evolved

Reimplemented from MindlinInteraction.

Definition at line 213 of file MindlinRollingTorsionInteraction.cc.

References Vec3D::dot(), BaseInteraction::getNormal(), MindlinInteraction::integrate(), rollingSpring_, rollingSpringVelocity_, torsionSpring_, and torsionSpringVelocity_.

214 {
218 }
Vec3D rollingSpringVelocity_
Stores the rate at which the rolling spring compresses or relaxes. Set in computeFrictionForce(), used in computing the amount of compression in rolling spring. Used in integrate().
Vec3D torsionSpring_
Stores the amount of torsional spring compression. Set in integrate(), used in computing frictional f...
static Mdouble dot(const Vec3D &a, const Vec3D &b)
Calculates the dot product of two Vec3D: .
Definition: Vector.cc:76
Vec3D rollingSpring_
Stores the amount of rolling spring compression. Set in integrate(), used in computing frictional for...
void integrate(Mdouble timeStep) override
Increments the amount of compression in sliding spring.
const Vec3D & getNormal() const
Gets the normal vector between the two interacting objects.
Vec3D torsionSpringVelocity_
Stores the rate at which the torsional spring compresses or relaxes. Set in computeFrictionForce(), used in computing the amount of compression in torsion spring. Used in integrate().
void MindlinRollingTorsionInteraction::read ( std::istream &  is)
overridevirtual

Interaction read function, which accepts an std::istream as input.

Parameters
in/out]is input file stream

Reimplemented from MindlinInteraction.

Definition at line 98 of file MindlinRollingTorsionInteraction.cc.

References MindlinInteraction::read(), rollingSpring_, and torsionSpring_.

99 {
101  std::string dummy;
102  is >> dummy >> rollingSpring_;
103  is >> dummy >> torsionSpring_;
104 }
Vec3D torsionSpring_
Stores the amount of torsional spring compression. Set in integrate(), used in computing frictional f...
Vec3D rollingSpring_
Stores the amount of rolling spring compression. Set in integrate(), used in computing frictional for...
void read(std::istream &is) override
Interaction read function, which accepts an std::istream as input.
void MindlinRollingTorsionInteraction::reverseHistory ( )
overridevirtual

A useful feature if one wants to return to the initial state of the springs. However, reverse history decrements the current state to the state corresponding to previous time step. Decrements the state or value of rollingSpring_, torsionSpring_ and slidingSpring_.

Reimplemented from MindlinInteraction.

Definition at line 250 of file MindlinRollingTorsionInteraction.cc.

References MindlinInteraction::reverseHistory(), torsionSpring_, and torsionSpringVelocity_.

251 {
253  //rollingSpring_=-rollingSpring_;
254  //rollingSpringVelocity_=-rollingSpringVelocity_;
257 }
Vec3D torsionSpring_
Stores the amount of torsional spring compression. Set in integrate(), used in computing frictional f...
void reverseHistory() override
A useful feature if one wants to return to the initial state of the spring. However, reverse history decrements the current state to the state corresponding to previous time step. Decrements the value of slidingSpring_.
Vec3D torsionSpringVelocity_
Stores the rate at which the torsional spring compresses or relaxes. Set in computeFrictionForce(), used in computing the amount of compression in torsion spring. Used in integrate().
void MindlinRollingTorsionInteraction::rotateHistory ( Matrix3D rotationMatrix)
overridevirtual

When periodic particles are used, some interactions need certain history properties rotated (e.g. tangential springs). This is the function for that.

Todo:
some of these might be unneccesary

Reimplemented from MindlinInteraction.

Definition at line 262 of file MindlinRollingTorsionInteraction.cc.

References rollingSpring_, rollingSpringVelocity_, MindlinInteraction::rotateHistory(), torsionSpring_, and torsionSpringVelocity_.

263 {
264  MindlinInteraction::rotateHistory(rotationMatrix);
265  rollingSpring_ = rotationMatrix * rollingSpring_;
267  torsionSpring_ = rotationMatrix * torsionSpring_;
269 }
Vec3D rollingSpringVelocity_
Stores the rate at which the rolling spring compresses or relaxes. Set in computeFrictionForce(), used in computing the amount of compression in rolling spring. Used in integrate().
Vec3D torsionSpring_
Stores the amount of torsional spring compression. Set in integrate(), used in computing frictional f...
Vec3D rollingSpring_
Stores the amount of rolling spring compression. Set in integrate(), used in computing frictional for...
void rotateHistory(Matrix3D &rotationMatrix) override
When periodic particles are used, some interactions need certain history properties rotated (e...
Vec3D torsionSpringVelocity_
Stores the rate at which the torsional spring compresses or relaxes. Set in computeFrictionForce(), used in computing the amount of compression in torsion spring. Used in integrate().
void MindlinRollingTorsionInteraction::setRollingSpring ( Vec3D  rollingSpring)

Definition at line 281 of file MindlinRollingTorsionInteraction.cc.

References rollingSpring_.

282 {
283  rollingSpring_ = rollingSpring;
284 }
Vec3D rollingSpring_
Stores the amount of rolling spring compression. Set in integrate(), used in computing frictional for...
void MindlinRollingTorsionInteraction::setTorsionSpring ( Vec3D  torsionSpring)

Definition at line 286 of file MindlinRollingTorsionInteraction.cc.

References torsionSpring_.

287 {
288  torsionSpring_ = torsionSpring;
289 }
Vec3D torsionSpring_
Stores the amount of torsional spring compression. Set in integrate(), used in computing frictional f...
void MindlinRollingTorsionInteraction::write ( std::ostream &  os) const
overridevirtual

Interaction print function, which accepts an std::ostream as input.

Parameters
in/out]os output file stream

Reimplemented from MindlinInteraction.

Definition at line 88 of file MindlinRollingTorsionInteraction.cc.

References rollingSpring_, torsionSpring_, and MindlinInteraction::write().

89 {
91  os << " rollingSpring " << rollingSpring_;
92  os << " torsionSpring " << torsionSpring_;
93 }
Vec3D torsionSpring_
Stores the amount of torsional spring compression. Set in integrate(), used in computing frictional f...
Vec3D rollingSpring_
Stores the amount of rolling spring compression. Set in integrate(), used in computing frictional for...
void write(std::ostream &os) const override
Interaction write function, which accepts an std::ostream as input.

Member Data Documentation

Vec3D MindlinRollingTorsionInteraction::rollingSpring_
private

Stores the amount of rolling spring compression. Set in integrate(), used in computing frictional force due to rolling.

Definition at line 129 of file MindlinRollingTorsionInteraction.h.

Referenced by computeFrictionForce(), getElasticEnergy(), getRollingSpring(), integrate(), MindlinRollingTorsionInteraction(), read(), rotateHistory(), setRollingSpring(), and write().

Vec3D MindlinRollingTorsionInteraction::rollingSpringVelocity_
private

Stores the rate at which the rolling spring compresses or relaxes. Set in computeFrictionForce(), used in computing the amount of compression in rolling spring. Used in integrate().

Definition at line 134 of file MindlinRollingTorsionInteraction.h.

Referenced by computeFrictionForce(), integrate(), and rotateHistory().

Vec3D MindlinRollingTorsionInteraction::torsionSpring_
private

Stores the amount of torsional spring compression. Set in integrate(), used in computing frictional force due to torsion.

Definition at line 139 of file MindlinRollingTorsionInteraction.h.

Referenced by computeFrictionForce(), getElasticEnergy(), getTorsionSpring(), integrate(), MindlinRollingTorsionInteraction(), read(), reverseHistory(), rotateHistory(), setTorsionSpring(), and write().

Vec3D MindlinRollingTorsionInteraction::torsionSpringVelocity_
private

Stores the rate at which the torsional spring compresses or relaxes. Set in computeFrictionForce(), used in computing the amount of compression in torsion spring. Used in integrate().

Definition at line 144 of file MindlinRollingTorsionInteraction.h.

Referenced by computeFrictionForce(), integrate(), reverseHistory(), and rotateHistory().


The documentation for this class was generated from the following files: